/*
 *    Copyright (c) 2014 Xiang Xu <xuxiang@mail.bnu.edu.cn>
 *
 *    Permission is hereby granted, free of charge, to any person
 *    obtaining a copy of this software and associated documentation
 *    files (the "Software"), to deal in the Software without
 *    restriction, including without limitation the rights to use,
 *    copy, modify, merge, publish, distribute, sublicense, and/or sell
 *    copies of the Software, and to permit persons to whom the
 *    Software is furnished to do so, subject to the following
 *    conditions:
 *
 *    The above copyright notice and this permission notice shall be
 *    included in all copies or substantial portions of the Software.
 *
 *    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 *    EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
 *    OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 *    NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
 *    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
 *    WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 *    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
 *    OTHER DEALINGS IN THE SOFTWARE.
 */

#include "arguments.h"
#include "pclwraper.h"

#include <fstream>
#include <iostream>

#include <boost/smart_ptr.hpp>

using namespace std;

int main(int argc, char** argv)
{
    Status status;

    // parse parameters
    boost::shared_ptr<Arguments> arguments = boost::shared_ptr<Arguments>(new Arguments);
    status = arguments->Parse(argc, argv);

    if(!status.IsOk())
    {
        cout << status;
        exit(-1);
    }
    else
    {
        cout << "Argments Parsed success.\n";
    }

    std::string raw_file = arguments->GetRawFile();
    cout << "Raw format is " << raw_file << endl;

    // Create a point cloud
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

    if(raw_file == "raw.xyz")
    {
        status = PclWraper::XYZ2PCD(raw_file, cloud);
    }
    else if(raw_file == "raw.ply")
    {
        status = PclWraper::PLY2PCD(raw_file, cloud);
    }
    else if(raw_file == "raw.xyzl")
    {
        status = PclWraper::XYZL2PCD(raw_file, cloud);
    }
    else
    {
        std::cout << "Not support raw format!\n";
    }

    if(!status.IsOk())
    {
        cout  << status;
        exit(-1);
    }
    else
    {
        cout << "Convert success!\n";
    }

    // Step 2
    std::cout << "\nSave ... \n";

    return 0;
}

